DH Parameter Calculator
Enter a standard Denavit-Hartenberg parameter table for your manipulator and get the forward kinematics — end-effector position, quaternion, and roll/pitch/yaw — with a live 3D preview of the joint chain. Drag the joint sliders to move it.
How to use the DH Parameter Calculator
- 1Pick a preset chain, or edit the DH table (a, α, d, θ) one joint per row.
- 2Drag the joint sliders and watch the arm move in the 3D preview.
- 3Read the end-effector position and orientation, and copy the pose.
Preset chains
DH parameters
| Name | Type | a (m) | α (deg) | d (m) | θ (deg) | |
|---|---|---|---|---|---|---|
Standard DH convention: Ti = Rotz(θ) · Transz(d) · Transx(a) · Rotx(α). For a revolute joint θ is the joint variable; for a prismatic joint d is.
End-effector pose
Position (m)
x: 2.0000
y: 0.0000
z: 0.0000
Quaternion (x, y, z, w)
x: 0.0000
y: 0.0000
z: 0.0000
w: 1.0000
Roll / Pitch / Yaw (deg)
roll: 0.00
pitch: 0.00
yaw: 0.00
Uses the standard Denavit-Hartenberg convention (not "modified"/Craig convention) — frame i is placed at the end of link i, and rows are applied base-to-tip in order. Roll/pitch/yaw follows the ROS/URDF fixed-axis X-Y-Z convention.